FWIW, I recently purchased a Taurus PT111 G2. And, I do like it. It fits my hand well, and shoots well; so far so good.
I too read in the manual about dry-firing possibly causing damage. But the manual also does not explain that you have to dry-fire the gun, or at least pull the trigger all the say back to get the slide to come off the frame for cleaning. If you follow the directions in the manual about field disassembly, it never mentions that you have pull the trigger to actually get the slide off. I tried and tried to get the slide off by following the directions in the manual with no luck. I finally Googled it and saw some good videos on YT about how to remove the slide on the PT111 G2. You HAVE to pull the trigger after pulling the slide stop downward or it will never come off.
I like the PT111 Millennium G2, but Taurus could have done a better job on explaining how to remove the slide. As far as dry-firing, I guess they don't want you to wear out something prematurely because they have a limited life-time warranty, I guess. But you will have to pull the trigger to get the slide off, unless there is something I'm not understanding from reading the manual...
Just my .02.